简介：Thispaperpresentsakinematicanalysisofthelocomotionofagecko,andexperimentalverificationofthekinematicmodel.Kinematicanalysisisimportantforparameterdesign,dynamicanalysis,andoptimizationinbiomimeticrobotresearch.Theproposedkinematicanalysiscansimulate,withoutiteration,thelocomotionofgeckosatisfyingtheconstraintconditionsthatmaintainthepositionofthecontactedfeetonthesurface.Sothemethodhasanadvantageforanalyzingtheclimbingmotionofthequadrupedmechanisminarealtimeapplication.Thekinematicmodelofageckoconsistsoffourlegsbasedon7-degreesoffreedomspherical-revolute-sphericaljointsandtworevolutejointsinthewaist.Themotionofthekinematicmodelissimulatedbasedonmeasurementdataofeachjoint.Themotionofthekinematicmodelsimulatestheinvestigatedrealgecko’smotionbyusingtheexperimentalresults.Theanalysissolvestheforwardkinematicsbyconsideringthemodelasacombinationofclosedandopenserialmechanismsundertheconditionthatmaintainsthecontactpositionsoftheattachedfeetontheground.Themotionsofeachjointarevalidatedbycomparingwiththeexperimentalresults.Inadditiontothemeasuredgait,threeothergaitsaresimulatedbasedonthekinematicmodel.Themaximumstridesofeachgaitarecalculatedbyworkspaceanalysis.Theresultcanbeusedinbiomimeticrobotdesignandmotionplanning.

简介：Asoneofthemostimportantdailymotoractivities,humanlocomotionhasbeeninvestigatedintensivelyinrecentdecades.Thelocomotorfunctionsandmechanicsofhumanlowerlimbshavebecomerelativelywellunderstood.However,sofarourunderstandingofthemotionsandfunctionalcontributionsofthehumanspineduringlocomotionisstillverypoorandsimul-taneousin-vivolimbandspinalcolumnmotiondataarescarce.Theobjectiveofthisstudyistoinvestigatethedelicatein-vivokinematiccouplingbetweendifferentfunctionalregionsofthehumanspinalcolumnduringlocomotionasasteppingstonetoexplorethelocomotorfunctionofthehumanspinecomplex.Anovelinfraredreflectivemarkerclustersystemwasconstructedusingstereophotogrammetrytechniquestorecordthe3Din-vivogeometricshapeofthespinalcolumnandthesegmentalpositionandorientationofeachfunctionalspinalregionsimultaneously.Gaitmeasurementsofnormalwalkingwereconducted.Thepreliminaryresultsshowthatthespinalcolumnshapechangesperiodicallyinthefrontalplaneduringlocomotion.Thesegmentalmotionsofdifferentspinalfunctionalregionsappeartobestronglycoupled,indicatingsomesynergisticstrategymaybeemployedbythehumanspinalcolumntofacilitatelocomotion.Incontrasttotraditionalmedicalimaging-basedmethods,theproposedtechniquecanbeusedtoinvestigatethedynamiccharacteristicsofthespinalcolumn,henceprovidingmoreinsightintothefunctionalbiomechanicsofthehumanspine.

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简介：Thispaperproposedanovelhumanoidroboteye,whichisdrivenbysixPneumaticArtificialMuscles(PAMs)androtateswith3DegreeofFreedom(DOF).Thedesignofthemechanismandmotiontypeoftheroboteyeareinspiredbythatofhumaneyes.Themodelofhumanoidroboteyeisestablishedasaparallelmechanism,andtheinverse-kinematicproblemofthisflexibletendonsdrivingparallelsystemissolvedbytheanalyticalgeometrymethod.Asanextension,thesimulationresultforsaccadicmovementispresentedunderthreeconditions.Thedesignandkinematicanalysisoftheprototypecouldbeasignificantsteptowardsthegoalofbuildinganautonomoushumanoidroboteyewiththemovementandespeciallythevisualfunctionssimilartothatofhuman.